US11029210B2 - Process for the approach to an oriented relative position between a camera or scanning device and a dental assistance element - Google Patents

Process for the approach to an oriented relative position between a camera or scanning device and a dental assistance element Download PDF

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US11029210B2
US11029210B2 US16/469,986 US201716469986A US11029210B2 US 11029210 B2 US11029210 B2 US 11029210B2 US 201716469986 A US201716469986 A US 201716469986A US 11029210 B2 US11029210 B2 US 11029210B2
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camera
assistance element
mark
scanning device
stencil
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US20200088582A1 (en
Inventor
Manuel Schlegel
Markus PAULER
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Ivoclar Vivadent AG
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Ivoclar Vivadent AG
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/10—Supports for artificial teeth for transport or for comparison of the colour
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
    • G01J3/50—Measurement of colour; Colour measuring devices, e.g. colorimeters using electric radiation detectors
    • G01J3/508—Measurement of colour; Colour measuring devices, e.g. colorimeters using electric radiation detectors measuring the colour of teeth
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/633—Control of cameras or camera modules by using electronic viewfinders for displaying additional information relating to control or operation of the camera
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/633—Control of cameras or camera modules by using electronic viewfinders for displaying additional information relating to control or operation of the camera
    • H04N23/635—Region indicators; Field of view indicators
    • H04N5/232939—
    • H04N5/232945—
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30036—Dental; Teeth
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Definitions

  • the invention concerns a process for the approach to an oriented relative position between a camera or scanning device and a dental assistance element for recording the dental assistance element.
  • a prosthetic tooth For producing a prosthetic tooth, it is important, among other things, to achieve as small as possible a color difference between the prosthetic tooth and the neighbouring natural tooth, or the neighbouring natural teeth, respectively, in order to be able to give the restoration part a natural appearance.
  • the invention concerns a process for the approach to an oriented relative position between a camera or scanning device and a dental assistance element for recording the dental assistance element in accordance with the preamble of claim 1 or 2 , respectively.
  • a prosthetic tooth For producing a prosthetic tooth, it is important, among other things, to achieve as small as possible a color difference between the prosthetic tooth and the neighbouring natural tooth, or the neighbouring natural teeth, respectively, in order to be able to give the restoration part a natural appearance.
  • the first step is to find out the color of the natural tooth concerned. It has been suggested to determine the tooth color with the help of a reference by means of comparison.
  • Such references include shade guides which serve as auxiliaries in selecting the tooth color.
  • a shade guide is known from the publication EP 2 255 749 B1.
  • the (miniature) shade guide there is provided with a multitude of color patterns which are arranged in the fashion of a matrix. Each color pattern corresponds to a tooth color common in the market, and preferably, tooth colors which are similar to each other are arranged adjacent to each other.
  • the shade guide there is attached to a tooth, which is, to its vestibular surface.
  • a correct determination of a tooth color is difficult because the tooth color cannot be characterized with the help of the color alone.
  • the translucency and lightness of the natural tooth which are, among other things, subject to the tooth structure, also play a great role in determining the tooth color.
  • the tooth behaves metamerically, and the appearance of the tooth changes depending on the given light situation and viewing angle—both for human eyes and for a photo taken of the tooth and/or of the shade guide. These external factors make the determination of the tooth color more difficult, too.
  • the invention is based on the task of creating a process according to the claims, with the help of which at least a simple and precise selection of color is possible.
  • a relative position is aligned between a camera or scanning device and a dental assistance element in order to record a dental assistance element, such as a miniature shade guide, if necessary together with a tooth to be compared.
  • a dental assistance element such as a miniature shade guide
  • the position of the camera remains unchanged, e.g. with the help of some intelligent software in combination with an image processing device.
  • a constantly unchanged position of the camera or the recording situation means more specifically that the distance of the camera or scanning device from the dental assistance element, the alignment of the camera or scanning device relative to the dental assistance element, and the viewing angle must be kept steady.
  • At least one asymmetry in the form of a mark or stencil should be employed both in the dental assistance element and in the camera or scanning device.
  • the asymmetry at the dental assistance element is brought to coverage with the asymmetry at the camera or scanning device. In case of complete coverage, the alignment is accomplished, in accordance with the invention.
  • a mark with at least one asymmetry should be attached on the dental assistance element.
  • a stencil which is congruent with or mathematically similar to the mark is displayed on a display device of the camera or scanning device. In order to align the camera or scanning device, the stencil is subsequently brought to coverage with the mark.
  • the stencil In order to determine whether the stencil is in complete coverage with the mark, one may monitor with the naked eye through the camera or via the scanning device whether merely the cut-out portion of the stencil, but not the areas outside the cut-out portion of the stencil as well, is filled by the mark.
  • the portion of the mark within the cut-out portion of the stencil has a rather natural color, whereas the portion of the mark outside the cut-out portion of the stencil has an opaque color. Therefore, it is visible for the observer whether the stencil is already in complete coverage with the mark or not during the alignment.
  • At least one part of the dental assistance element should be used with an asymmetry as a mark.
  • the stencil is subsequently brought to coverage with the part of the dental assistance element.
  • the dental assistance element is provided in the form of a (miniature) shade guide which is provided with a multitude of color patterns which are each arranged cubically and in the fashion of a matrix, a part of these color patterns with an asymmetrical arrangement may be used as the mark.
  • a stencil which is congruent with or mathematically similar to the mark or at least one part of the dental assistance element should be stored as a virtual image.
  • the stencil is brought to coverage with the mark or the one part of the dental assistance element.
  • a multitude of such virtual images may be stored, which show virtual stencils in different shapes, each corresponding to one mark.
  • the automatic recognition process by means of the camera or scanning device may work similar to that with the help of the operator's naked eye. However, this may also work based on another basically known fashion. It is advantageous that the precision of the automatic recognition of coverage may be distinctly higher than that in human observation.
  • characterising features of the mark or at least one part of the dental assistance element in particular concerning the distances of points from each other and/or the angles between lines and/or the positions of points and lines and/or the color values of points, should be stored inside the camera or inside the scanning device or inside a memory for the camera or inside a memory for the scanning device.
  • the features of the mark or the one part of the dental assistance element will be searched based on the features stored.
  • an identification of at least one of the features is detected and signalled during the search.
  • the mark consists of four round points with equal diameter, which points are arranged in the four corners of a square.
  • information is stored about this: Four round points with equal diameter, and the distances between the four points have the ratio of 1:1:root(2) to each other.
  • this embodiment offers the possibility of easily modifying or updating, respectively, features of marks or parts of the dental assistance element inside the camera or scanning device, respectively.
  • assistance elements such as arrows, should be displayed on an optical surface of the camera or scanning device if coverage has not yet been achieved.
  • the assistance elements may point into the direction in which coverage may be achieved.
  • an arrow displayed on the optical surface of the camera or scanning device and pointing towards the right means that the camera/scanning device should be moved towards the right.
  • a curved arrow or two curved arrows opposite of each other mean that the orientation of the camera/scanning device towards the tooth or towards the dental assistance element, respectively, should be regulated accordingly.
  • An arrow pointing towards the right into a black point means that the right part of the camera/scanning device should be rotated around an axis parallel to the mark of the dental assistance element in the direction towards this, so that the recording angle required between the camera/scanning device and the dental assistance element amounts to, e.g., precisely 90°.
  • the stencil should be displayed on an optical surface of the camera or scanning device.
  • the stencil may be connected adjacently to the housing of the camera lens in a basically known fashion, such that the stencil, in particular the cut-out portion of the stencil, is positioned centrally on the camera lens and in coverage with the latter.
  • the physically present stencil should be displayed on a virtual image and be detected by an image recognition device.
  • This image may be stored in a memory for the camera or scanning device in advance.
  • the image is retrieved from the memory, and is displayed on a display device of the camera or scanning device.
  • a virtual stencil is displayed within the image, and is then detected by an image recognition device. This image, including the stencil displayed, is used for alignment.
  • the displaying of the stencil should be detected, and alignment advice for the camera or scanning device should be output depending on the position of the stencil displayed.
  • alignment advice for the camera or scanning device is activated. Accordingly, the position of the stencil displayed is detected and is used as the starting point for the alignment.
  • the alignment advice in the form of, e.g., arrows, is generated automatically, based on this position and the position of the tooth or the dental assistance element, respectively, and is then displayed.
  • the alignment advice should concern the focussing or the electronically controllable detection range of the camera, and the detection of the image should be modified based on this, if necessary.
  • the focussing advice is generated based on the current distance between the tooth and the camera/scanning device, and based on the current position of the camera/scanning device and the orientation of the camera/scanning device and the angle of the camera/scanning device in relation to the dental assistance element, some advice is given on a possible modification of the electronically controllable detection range of the camera.
  • the alignment advice should be provided as optical and/or acoustic and/or mechanical advice for the user of the camera.
  • Optical alignment advice may, e.g., be the arrows mentioned above or other symbols which are suitable for clearly instructing the user on the applicable alignment of the camera or scanning device.
  • Acoustic advice is given, e.g., in the form of voice output, such as—“Camera is now distorted!” or “Wrong distance!”—with the help of which corresponding indications may be communicated to the user.
  • the coincidence or coverage between the stencil and the mark or a part of the dental assistance element is signalled by means of an optical, acoustic, or mechanical display, or by means of triggering the camera.
  • the following output may be displayed: “Alignment given!”.
  • the user may be informed in an acoustic way, which is different from the acoustic display during the alignment phase, about the given alignment of the camera.
  • the mark or the one part of the dental assistance element should be provided with points arranged in a line or with lines for the detection of an angular error.
  • the color patterns are separated from each other by means of a defined distance of the columns.
  • points arranged in a line or lines may be provided.
  • such points or lines may also be provided. Whether or not the points or lines at the shade guide coincide with the corresponding line of points or the mark of the stencil, is detectable via the camera or scanning device for determining an angular error.
  • FIG. 1 a schematically depicted arrangement with an embodiment of the miniature shade guide used in the process in accordance with the invention, and with three incisors in a front view;
  • FIG. 2 a schematically depicted arrangement with another embodiment of the miniature shade guide used in the process in accordance with the invention, and with three incisors in a front view;
  • FIG. 3 a a schematically depicted state of the mark and the stencil during the execution of one embodiment of the process in accordance with the invention
  • FIG. 3 b another schematically depicted state of the mark and the stencil during the execution of the embodiment of the process in accordance with the invention according to FIG. 3 a;
  • FIG. 3 c another schematically depicted state of the mark and the stencil during the execution of the embodiment of the process in accordance with the invention according to FIG. 3 a;
  • FIG. 3 d another schematically depicted state of the mark and the stencil during the execution of the embodiment of the process in accordance with the invention according to FIG. 3 a;
  • FIG. 4 a a schematically depicted state of the mark and the stencil during the execution of another embodiment of the process accordance with the invention
  • FIG. 4 b another schematically depicted state of the mark and the stencil during the execution of the embodiment of the process accordance with the invention according to FIG. 4 a;
  • FIG. 4 c another schematically depicted state of the mark and the stencil during the execution of the embodiment of the process accordance with the invention according to FIG. 4 a;
  • FIG. 5 another schematically depicted embodiment of the miniature shade guide used in the process in accordance with the invention.
  • FIG. 6 a block diagram for the sequence of an embodiment of the process in accordance with the invention.
  • the embodiment of the miniature shade guide 10 used in the process in accordance with the invention that is depicted in FIG. 1 is arranged to be attached in a basically known fashion to one of the incisors 3 depicted.
  • at least one photo is taken with the help of a camera or scanning device.
  • the embodiment of the miniature shade guide 10 used in the process in accordance with the invention that is depicted in FIG. 1 is arranged to be attached in a basically known fashion to one of the incisors 3 depicted.
  • at least one photo is taken with the help of a camera or scanning device.
  • the miniature shade guide 10 depicted according to FIG. 1 is provided with sixteen color patterns 2 which are arranged in the fashion of a four-times-four matrix. Adjacently to the matrix, an L-shaped mark 4 is positioned on a substrate 5 . For the purpose of aligning the camera or scanning device, a stencil 6 of the camera or scanning device is brought to coverage with mark 4 .
  • the embodiment of the miniature shade guide 10 used in the process in accordance with the invention which is depicted in FIG. 2 differs from the embodiment which is depicted in FIG. 1 in that the substrate 5 and the mark 4 positioned on top of it are no longer necessary in accordance with the invention, but rather a portion of the matrix—corresponding to the portion which is designated by diagonal lines according to FIG. 2 —itself forms an L-shaped mark.
  • the stencil is subsequently brought to coverage with this portion of color pattern 2 .
  • FIGS. 3 a to 4 c a state of mark 4 and stencil 6 during the alignment of the camera or scanning device is shown within the detection range 7 of the camera or scanning device.
  • miniature shade guide 10 With relation to miniature shade guide 10 , merely its mark 4 is depicted. The (other) color patterns 2 and the possible substrate 5 of miniature shade guide 10 are not depicted.
  • FIGS. 3 a to 3 d an L-shaped stencil 6 is used which is congruent with mark 4 and is displayed on a display device of the camera or scanning device.
  • mark 4 is distinctly smaller than stencil 6 and is displayed within the cut-out portions of the latter.
  • mark 4 is shown to be a bit larger than stencil 6 within the detection range 7 of the camera or scanning device. This means that the distance between the camera or scanning device and miniature shade guide 10 is a bit too small.
  • mark 4 is provided with a portion 4 x which is visible within the cut-out portion of stencil 6 and a portion 4 y not clearly visible due to the non-transparent material of stencil 6 outside of the cut-out portion of stencil 6 .
  • the visible portion 4 x of mark 4 has a rather natural color, whereas the not clearly visible portion 4 y of mark 4 has an opaque color.
  • the difference in colors between the natural color and the opaque color is made use of. It is particularly advantageous for the user of the camera or scanning device to determine, in case of a scarce coverage, as a result of this difference in colors, that stencil 6 is not yet in complete coverage with mark 4 .
  • FIG. 3 d shows a successful coverage of stencil 6 with mark 4 .
  • an L-shaped stencil 6 is used which is congruent with mark 4 and is stored as a virtual image in the camera or scanning device.
  • arrows 12 , 14 and written information 16 are displayed as assistance elements which serve for the purpose of signalling an approach to coverage and/or successful coverage.
  • stencil 6 is twisted relative to mark 4 , i.e. the camera or scanning device is twisted in relation to miniature shade guide 10 .
  • This is detected by the camera or scanning device in real time in a basically known fashion.
  • some advice is displayed on the display device of the camera or scanning device in accordance with the invention, which advice is displayed in the form of two arrows 12 situated opposite of each other and curved inwards, and recommending to rotate the camera or scanning device.
  • the camera or scanning device is not only twisted relative to miniature shade guide 10 , but also has a wrong distance from miniature shade guide 10 and is in a wrong position.
  • the camera or scanning device determines in this situation that first the position of the camera or scanning device is to be adjusted. Accordingly, on the display device of the camera or scanning device some advice is displayed in the form of an arrow 14 pointing upwards and an arrow 14 pointing towards the right to move the camera or scanning device in an upward right direction.
  • a successful coverage of stencil 6 with mark 4 is detected by the camera or scanning device, and is at the same time automatically indicated on the display device with the help of the written indications 16 “Alignment given!” (cf. FIG. 4 c ).
  • the automatic detection of coverage by the camera or scanning device in accordance with FIGS. 4 a to 4 c has a significantly higher precision in accordance with the invention, compared with human observation.
  • color patterns 2 are separated from each other by a defined distance of columns 20 .
  • Color patterns 2 which are designated by diagonal lines, form the mark 4 for the alignment.
  • a multitude of points 30 are arranged in the columns 20 adjacent to these color patterns 2 , which points may preferably also be colored. These points 30 are only visible in the alignment process through the camera if the camera is oriented orthogonally towards shade guide 10 . Only then, the pre-defined optimal recording angle has been reached.
  • mark 4 should have, e.g., the color green and merely look green in a precise front view, whereas with other viewing angles it appears in different colors. This guarantees a correct viewing angle for the recording, in accordance with the invention.
  • the outside contour of miniature shade guide 10 is taken account of and made use of.
  • a pre-defined outside contour of miniature shade guide 10 corresponding to the orthogonal orientation of the camera and miniature shade guide 10 is stored in the camera or scanning device in advance.
  • this pre-defined outside contour is compared with the outside contour of miniature shade guide 10 which is detected by the camera or scanning device. If they coincide, a required orthogonality between the camera or scanning device and miniature shade guide 10 is confirmed.
  • miniature shade guide 10 which is not depicted, more than one mark with different colors are used. A color differentiation will guarantee, in accordance with the invention, the correct orientation of the camera or scanning device relative to miniature shade guide 10 .
  • a smartphone that is commonly available in the market may be used together with a corresponding app, for example.
  • the app For the alignment of the camera of the smartphone, the app is first started (cf. step 40 ). Subsequently, the app instructs the user to carry out the alignment (cf. step 42 ) in that the user searches a symbol or a stencil 6 shown on the display of the smartphone by approaching the camera towards miniature shade guide 10 (cf. step 44 ). Finding the symbol is confirmed (cf. step 46 ) and leads to an analysis of the recording situation (cf. step 48 ).
  • the app will inform the user about this and instruct him to calibrate the camera (cf. step 50 ). If all these parameters are fulfilled, a photo of miniature shade guide 10 and the teeth 3 to be compared is taken (cf. step 52 ).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Dentistry (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Character Input (AREA)
US16/469,986 2016-12-22 2017-12-22 Process for the approach to an oriented relative position between a camera or scanning device and a dental assistance element Active 2038-02-02 US11029210B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP16206420 2016-12-22
EP16206420.8 2016-12-22
EP16206420.8A EP3338734B1 (de) 2016-12-22 2016-12-22 Verfahren zur ausrichtung einer kamera oder scanvorrichtung
PCT/EP2017/084381 WO2018115437A1 (de) 2016-12-22 2017-12-22 Verfahren zur ausrichtung einer kamera oder scanvorrichtung mit einem dentalhilfselement

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US20200088582A1 US20200088582A1 (en) 2020-03-19
US11029210B2 true US11029210B2 (en) 2021-06-08

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US (1) US11029210B2 (zh)
EP (2) EP3338734B1 (zh)
JP (1) JP6862551B2 (zh)
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WO (1) WO2018115437A1 (zh)

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JP7289746B2 (ja) * 2019-07-11 2023-06-12 キヤノン株式会社 情報処理装置、情報処理方法、及びプログラム
CN110374045B (zh) * 2019-07-29 2021-09-28 哈尔滨工业大学 一种智能化除冰方法
DE102020003856A1 (de) 2020-06-26 2021-12-30 Jan-Frederik Güth Verfahren zur digitalen Erfassung einer intraoralen Struktur, sowie Farbreferenzvorlage und System zur Durchführung des Verfahrens
PL239489B1 (pl) * 2020-07-20 2021-12-06 Szczerbaniewicz Joanna Przychodnia Stomatologiczna Kodent Sposób analizy wzorca ruchów współzależnych zębów szczęki górnej i zębów szczęki dolnej poprzez dwukierunkowe zsynchronizowanie technologii cyfrowej akwizycji obrazu tych ruchów z technologią haptyczną w cyfrowej analizie żucia, szablon pozycjonujący, oraz cyfrowy rejestrator żucia
CN116670472A (zh) * 2020-12-17 2023-08-29 高露洁-棕榄公司 用于测量颜色值的系统和设备及其方法
US20220401192A1 (en) * 2021-06-22 2022-12-22 Reset Technology Corporation Systems and methods for providing oral devices using at-home dental impression kits

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US20080145812A1 (en) * 1997-09-30 2008-06-19 Cadent Ltd. Placing an orthodontic element on a tooth surface
US20100304323A1 (en) 2009-05-29 2010-12-02 Gottfried Rohner Dental Color Key
WO2012038474A1 (en) 2010-09-21 2012-03-29 Universitetet I Oslo Determining the colour of teeth
KR101315862B1 (ko) 2013-04-23 2013-10-08 박수희 치아 색조선택 시스템

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Publication number Priority date Publication date Assignee Title
US20080145812A1 (en) * 1997-09-30 2008-06-19 Cadent Ltd. Placing an orthodontic element on a tooth surface
US20070081631A1 (en) * 2002-04-12 2007-04-12 Kay George W Methods and Apparatus for Preserving Orientation Information in Radiography Images
US20100304323A1 (en) 2009-05-29 2010-12-02 Gottfried Rohner Dental Color Key
WO2012038474A1 (en) 2010-09-21 2012-03-29 Universitetet I Oslo Determining the colour of teeth
KR101315862B1 (ko) 2013-04-23 2013-10-08 박수희 치아 색조선택 시스템

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US20200088582A1 (en) 2020-03-19
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